Design Methodologies for Soft-Material Robots Through Additive Manufacturing, From Prototyping to Locomotion

2015 ◽  
Author(s):  
Eliad Cohen ◽  
Vishesh Vikas ◽  
Barry Trimmer ◽  
Stephen McCarthy
Keyword(s):  
Additive Manufacturing ◽  
Modular Design ◽  
Technological Development ◽  
Deformable Body ◽  
Soft Materials ◽  
Soft Material ◽  
Hard Material ◽  
Hard Component ◽  
Contact Points ◽  
Manufacturing Techniques

Soft material robots have gained interest in recent years due to the mechanical potential of non-rigid materials and technological development in the additive manufacturing (3D printing) techniques. The incorporation of soft materials provides robots with potential for locomotion in unstructured environments due to the conformability and deformability properties of the structure. Current additive manufacturing techniques allow multimaterial printing which can be utilized to build soft bodied robots with rigid-material inclusions/features in a single process, single batch (low manufacturing volumes) thus saving on both design prototype time and need for complex tools to allow multimaterial manufacturing. However, design and manufacturing of such deformable robots needs to be analyzed and formalized using state of the art tools. This work conceptualizes methodology for motor-tendon actuated soft-bodied robots capable of locomotion. The methodology relies on additive manufacturing as both a prototyping tool and a primary manufacturing tool and is categorized into body design & development, actuation and control design. This methodology is applied to design a soft caterpillar-like biomimetic robot with soft deformable body, motor-tendon actuators which utilizes finite contact points to effect locomotion. The versatility of additive manufacturing is evident in the complex designs that are possible when implementing unique actuation techniques contained in a soft body robot (Modulus discrepancy); For the given motor-tendon actuation, the hard tendons are embedded inside the soft material body which acts as both a structure and an actuator. Furthermore, the modular design of soft/hard component coupling is only possible due to this manufacturing technique and often eliminates the need for joining and fasteners. The multi-materials are also used effectively to manipulate friction by utilizing soft/hard material frictional interaction disparity.

Fabrication of Multiple Micro-Grooves by Ultrasonic Machining with a Tool that Laminated Thin Hard-Material and Thin Soft-Material

2009 ◽  
Vol 76-78 ◽  
pp. 577-582 ◽  
Author(s):  
Jun Shinozuka
Keyword(s):  
Normal Stress ◽  
Contact Region ◽  
Abrasive Particle ◽  
Soft Materials ◽  
Epoxy Adhesive ◽  
Soft Material ◽  
Machining Process ◽  
Hard Material ◽  
Ultrasonic Machining ◽  
Micro Grooving

A micro-grooving method by ultrasonic machining with a lamination tool has been devised. Thin walls on the tip of an ultrasonic tool can fabricate many grooves on a workpiece by one ultrasonic-machining process. Thinner wall for fabricating micro grooves, however, poses the lack of the stiffness of the tool, resulting in the difficulty of the grooving. Then the walls are enfolded with a soft material such as a polymer plastic to supplement the lack of the stiffness. Since soft material absorbs the energy of the ultrasonic vibration, the damage by the impacts of the abrasive particle on the workpiece surface under the soft material is little. Therefore multiple micro-grooves can fabricate efficiently by using of a lamination tool in which thin hard-materials and thin soft-materials are laminated alternately. In this paper, the lamination tools were developed with a thin shim-sheet as the hard material and an epoxy adhesive as the soft material. The fabrication experiments of the parallel grooves on alumina ceramics were conducted. This paper investigates the influences of the parameters of ultrasonic machining such as the grain size of the abrasive particle, the static machining load or static normal stress applied to the tool-workpiece contact region and the grooving time upon the characteristics of the micro-grooves. The results show that the grooving efficiency depends on the grooving time and the static normal stress. Finally, some applications are shown.

scholarly journals A Review on Additive Manufacturing Possibilities for Electrical Machines

Energies ◽  
2021 ◽  
Vol 14 (7) ◽  
pp. 1940
Author(s):  
Muhammad Usman Naseer ◽  
Ants Kallaste ◽  
Bilal Asad ◽  
Toomas Vaimann ◽  
Anton Rassõlkin
Keyword(s):  
Additive Manufacturing ◽  
Large Scale ◽  
Three Dimensional ◽  
Electrical Machines ◽  
Electromagnetic Properties ◽  
Scale Production ◽  
Performance Parameters ◽  
Large Scale Production ◽  
One Step ◽  
Manufacturing Techniques

This paper presents current research trends and prospects of utilizing additive manufacturing (AM) techniques to manufacture electrical machines. Modern-day machine applications require extraordinary performance parameters such as high power-density, integrated functionalities, improved thermal, mechanical & electromagnetic properties. AM offers a higher degree of design flexibility to achieve these performance parameters, which is impossible to realize through conventional manufacturing techniques. AM has a lot to offer in every aspect of machine fabrication, such that from size/weight reduction to the realization of complex geometric designs. However, some practical limitations of existing AM techniques restrict their utilization in large scale production industry. The introduction of three-dimensional asymmetry in machine design is an aspect that can be exploited most with the prevalent level of research in AM. In order to take one step further towards the enablement of large-scale production of AM-built electrical machines, this paper also discusses some machine types which can best utilize existing developments in the field of AM.

scholarly journals Development of a 3D Printable and Highly Stretchable Ternary Organic-Inorganic Nanocomposite Hydrogel

2021 ◽  
Author(s):  
Chen Hu ◽  
Malik Haider ◽  
Lukas Hahn ◽  
Mengshi Yang ◽  
Robert Luxenhofer
Keyword(s):  
Mechanical Properties ◽  
Additive Manufacturing ◽  
Nanocomposite Hydrogel ◽  
Highly Stretchable ◽  
Manufacturing Techniques ◽  
Advanced Applications

Hydrogels that can be processed with additive manufacturing techniques and concomitantly possess favorable mechanical properties are interesting for many advanced applications. However, the development of novel ink materials with high...

scholarly journals Advances in 3D Printing for Tissue Engineering

Materials ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3149
Author(s):  
Angelika Zaszczyńska ◽  
Maryla Moczulska-Heljak ◽  
Arkadiusz Gradys ◽  
Paweł Sajkiewicz
Keyword(s):  
Tissue Engineering ◽  
Additive Manufacturing ◽  
3D Printing ◽  
Complex Structure ◽  
Three Dimensional ◽  
Computer Assisted ◽  
Scaffold Fabrication ◽  
Manufacturing Techniques ◽  
Printing Techniques ◽  
State Of Art

Tissue engineering (TE) scaffolds have enormous significance for the possibility of regeneration of complex tissue structures or even whole organs. Three-dimensional (3D) printing techniques allow fabricating TE scaffolds, having an extremely complex structure, in a repeatable and precise manner. Moreover, they enable the easy application of computer-assisted methods to TE scaffold design. The latest additive manufacturing techniques open up opportunities not otherwise available. This study aimed to summarize the state-of-art field of 3D printing techniques in applications for tissue engineering with a focus on the latest advancements. The following topics are discussed: systematics of the available 3D printing techniques applied for TE scaffold fabrication; overview of 3D printable biomaterials and advancements in 3D-printing-assisted tissue engineering.

Additive Manufacturing: The Next Generation of Scapholunate Ligament Reconstruction

2021 ◽  
Author(s):  
Matthew N. Rush ◽  
Christina Salas ◽  
Lorraine Mottishaw ◽  
Damian Fountain ◽  
Deana Mercer
Keyword(s):  
Additive Manufacturing ◽  
Ligament Reconstruction ◽  
Three Dimensional ◽  
Biological Properties ◽  
Bone Interface ◽  
Significant Strength ◽  
Efficient Integration ◽  
Manufacturing Methods ◽  
Manufacturing Techniques ◽  
Manufacturing Technologies

Abstract Background Ligament reconstruction, as a surgical method used to stabilize joints, requires significant strength and tissue anchoring to restore function. Historically, reconstructive materials have been fraught with problems from an inability to withstand normal physiological loads to difficulties in fabricating the complex organization structure of native tissue at the ligament-to-bone interface. In combination, these factors have prevented the successful realization of nonautograft reconstruction. Methods A review of recent improvements in additive manufacturing techniques and biomaterials highlight possible options for ligament replacement. Description of Technique In combination, three dimensional-printing and electrospinning have begun to provide for nonautograft options that can meet the physiological load and architectures of native tissues; however, a combination of manufacturing methods is needed to allow for bone-ligament enthesis. Hybrid biofabrication of bone-ligament tissue scaffolds, through the simultaneous deposition of disparate materials, offer significant advantages over fused manufacturing methods which lack efficient integration between bone and ligament materials. Results In this review, we discuss the important chemical and biological properties of ligament enthesis and describe recent advancements in additive manufacturing to meet mechanical and biological requirements for a successful bone–ligament–bone interface. Conclusions With continued advancement of additive manufacturing technologies and improved biomaterial properties, tissue engineered bone-ligament scaffolds may soon enter the clinical realm.

Design for Additive Manufacturing Inspired by TRIZ

2018 ◽  
Author(s):  
Jared Gross ◽  
Kijung Park ◽  
Gül E. Okudan Kremer
Keyword(s):  
Additive Manufacturing ◽  
Design Decision ◽  
Design For Additive Manufacturing ◽  
Specific Design ◽  
Innovative Design ◽  
Creative Solutions ◽  
Design Solutions ◽  
Manufacturing Techniques ◽  
Effective Design ◽  
Matrix Case

With the rise in popularity of additive manufacturing (AM), relevant design methodologies have become necessary for designers to reap the full benefits from this technology. TRIZ is a problem-solving tool developed to assist with innovative and creative solutions. This paper aims to create a new TRIZ matrix specifically developed for designers using additive manufacturing. The TRIZ matrix offers designers general innovative design solutions to improve specific features of a design while not sacrificing the effectiveness of other features. The proposed matrix can help effective design decision making for additive manufacturing in an early design process as well as a redesign process. Also, a design for additive manufacturing (DfAM) worksheet is provided to enable users to easily find specific design solutions for certain additive manufacturing techniques based on the general solutions derived by the TRIZ matrix. To illustrate the potential of this AM specific TRIZ matrix, case studies are presented.

Development of 3D Finite Element Model for Predicting Process-Induced Defects in Additive Manufacturing by Selective Laser Melting (SLM)

2016 ◽  
Author(s):  
Bilal Hussain ◽  
A. Sherif El-Gizawy
Keyword(s):  
Additive Manufacturing ◽  
Laser Beam ◽  
Selective Laser Melting ◽  
Thermal Stresses ◽  
Cost Effective ◽  
Element Model ◽  
Laser Melting ◽  
Two Phase ◽  
Free Process ◽  
Manufacturing Techniques

Selective Laser Melting (SLM) is one of the important Additive Manufacturing techniques for building functional products. Nevertheless, the absence of accurate models for predicting the SLM process behavior, delays development of cost effective and defects free process. This work presents a coupled thermo-mechanical numerical model to capture the two phase (solid-liquid) solidification melting phenomena that occur in the process. The proposed model will also predict the evolvement of process-induced properties and defects particularly residual stresses caused by temperature gradient and thermal stresses. CO2 or Nd:YAG laser beam can be used as a heat source with a Gaussian distribution for the laser beam energy.

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